Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Precise Control for Servo Systems Using Sliding Mode Observer and Controller

슬라이딩 모드 관측기와 제어기를 이용한 서보시스템의 정밀제어

  • 한성익 (순천제일대학 기계전기제어과) ;
  • 공준희 (부산대학교 지능기계 대학원) ;
  • 신대왕 (부산대학교 지능기계 대학원) ;
  • 김종식 (부산대학교 기계공학부 및 기계기술연구소)
  • Published : 2002.07.01
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Abstract

The effect of nonlinear friction in the low velocity is dominant in precise controlled mechanisms and it is difficult to model. This paper is concerned with the compensation for friction using the variable structure system approach as nonmodel based method. The problem of chattering in the sliding mode controller is suppressed by the implementation of the boundary layer concept. And the estimation for friction using sliding mode observer makes the upper bound of matched uncertainty reduced. Accordingly, the effect of chattering can be more suppressed. And the sliding surface is constructed by adding an integral component to the switching function that is made by using error dynamics. This sliding surface guarantees the good tracking performance. Experimental results for a XY table system show that the proposed method has a good performance especially in the low velocity.

Keywords

References

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